robot_state_display.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/robot_state_rviz_plugin/robot_state_display.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/utils/message_checks.h>
 
// #include <rviz/visualization_manager.h>
#include <rviz_default_plugins/robot/robot.hpp>
#include <rviz_default_plugins/robot/robot_link.hpp>
 
#include <rviz_common/properties/property.hpp>
#include <rviz_common/properties/string_property.hpp>
#include <rviz_common/properties/bool_property.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_common/display_context.hpp>
#include <rviz_common/frame_manager_iface.hpp>
 
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
 
#include <memory>
 
namespace moveit_rviz_plugin
{
// ******************************************************************************************
// Base class constructor
// ******************************************************************************************
RobotStateDisplay::RobotStateDisplay() : Display(), update_state_(false)
{
  robot_description_property_ = new rviz_common::properties::StringProperty(
      "Robot Description", "robot_description", "The name of the ROS parameter where the URDF for the robot is loaded",
      this, SLOT(changedRobotDescription()), this);
 
  robot_state_topic_property_ = new rviz_common::properties::RosTopicProperty(
      "Robot State Topic", "display_robot_state",
      rosidl_generator_traits::data_type<moveit_msgs::msg::DisplayRobotState>(),
      "The topic on which the moveit_msgs::msg::DisplayRobotState messages are received", this,
      SLOT(changedRobotStateTopic()), this);
 
  // Planning scene category -------------------------------------------------------------------------------------------
  root_link_name_property_ =
      new rviz_common::properties::StringProperty("Robot Root Link", "",
                                                  "Shows the name of the root link for the robot model", this,
                                                  SLOT(changedRootLinkName()), this);
  root_link_name_property_->setReadOnly(true);
 
  robot_alpha_property_ = new rviz_common::properties::FloatProperty(
      "Robot Alpha", 1.0f, "Specifies the alpha for the robot links", this, SLOT(changedRobotSceneAlpha()), this);
  robot_alpha_property_->setMin(0.0);
  robot_alpha_property_->setMax(1.0);
 
  attached_body_color_property_ =
      new rviz_common::properties::ColorProperty("Attached Body Color", QColor(150, 50, 150),
                                                 "The color for the attached bodies", this,
                                                 SLOT(changedAttachedBodyColor()), this);
 
  enable_link_highlight_ = new rviz_common::properties::BoolProperty("Show Highlights", true,
                                                                     "Specifies whether link highlighting is enabled",
                                                                     this, SLOT(changedEnableLinkHighlight()), this);
  enable_visual_visible_ =
      new rviz_common::properties::BoolProperty("Visual Enabled", true,
                                                "Whether to display the visual representation of the robot.", this,
                                                SLOT(changedEnableVisualVisible()), this);
  enable_collision_visible_ =
      new rviz_common::properties::BoolProperty("Collision Enabled", false,
                                                "Whether to display the collision representation of the robot.", this,
                                                SLOT(changedEnableCollisionVisible()), this);
 
  show_all_links_ = new rviz_common::properties::BoolProperty(
      "Show All Links", true, "Toggle all links visibility on or off.", this, SLOT(changedAllLinks()), this);
}
 
// ******************************************************************************************
// Deconstructor
// ******************************************************************************************
RobotStateDisplay::~RobotStateDisplay() = default;
 
void RobotStateDisplay::onInitialize()
{
  Display::onInitialize();
  auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
  if (!ros_node_abstraction)
  {
    RVIZ_COMMON_LOG_WARNING("Unable to lock weak_ptr from DisplayContext in RobotStateDisplay constructor");
    return;
  }
  robot_state_topic_property_->initialize(ros_node_abstraction);
  node_ = ros_node_abstraction->get_raw_node();
  robot_ = std::make_shared<RobotStateVisualization>(scene_node_, context_, "Robot State", this);
  changedEnableVisualVisible();
  changedEnableCollisionVisible();
  robot_->setVisible(false);
}
 
void RobotStateDisplay::reset()
{
  robot_->clear();
  rdf_loader_.reset();
  Display::reset();
  if (isEnabled())
    onEnable();
}
 
void RobotStateDisplay::changedAllLinks()
{
  Property* links_prop = subProp("Links");
  QVariant value(show_all_links_->getBool());
 
  for (int i = 0; i < links_prop->numChildren(); ++i)
  {
    Property* link_prop = links_prop->childAt(i);
    link_prop->setValue(value);
  }
}
 
void RobotStateDisplay::setHighlight(const std::string& link_name, const std_msgs::msg::ColorRGBA& color)
{
  rviz_default_plugins::robot::RobotLink* link = robot_->getRobot().getLink(link_name);
  if (link)
  {
    link->setColor(color.r, color.g, color.b);
    link->setRobotAlpha(color.a * robot_alpha_property_->getFloat());
  }
}
 
void RobotStateDisplay::unsetHighlight(const std::string& link_name)
{
  rviz_default_plugins::robot::RobotLink* link = robot_->getRobot().getLink(link_name);
  if (link)
  {
    link->unsetColor();
    link->setRobotAlpha(robot_alpha_property_->getFloat());
  }
}
 
void RobotStateDisplay::changedEnableLinkHighlight()
{
  if (enable_link_highlight_->getBool())
  {
    for (std::pair<const std::string, std_msgs::msg::ColorRGBA>& highlight : highlights_)
    {
      setHighlight(highlight.first, highlight.second);
    }
  }
  else
  {
    for (std::pair<const std::string, std_msgs::msg::ColorRGBA>& highlight : highlights_)
    {
      unsetHighlight(highlight.first);
    }
  }
}
 
void RobotStateDisplay::changedEnableVisualVisible()
{
  robot_->setVisualVisible(enable_visual_visible_->getBool());
}
 
void RobotStateDisplay::changedEnableCollisionVisible()
{
  robot_->setCollisionVisible(enable_collision_visible_->getBool());
}
 
void RobotStateDisplay::setRobotHighlights(
    const moveit_msgs::msg::DisplayRobotState::_highlight_links_type& highlight_links)
{
  if (highlight_links.empty() && highlights_.empty())
    return;
 
  std::map<std::string, std_msgs::msg::ColorRGBA> highlights;
  for (const moveit_msgs::msg::ObjectColor& highlight_link : highlight_links)
  {
    highlights[highlight_link.id] = highlight_link.color;
  }
 
  if (enable_link_highlight_->getBool())
  {
    std::map<std::string, std_msgs::msg::ColorRGBA>::iterator ho = highlights_.begin();
    std::map<std::string, std_msgs::msg::ColorRGBA>::iterator hn = highlights.begin();
    while (ho != highlights_.end() || hn != highlights.end())
    {
      if (ho == highlights_.end())
      {
        setHighlight(hn->first, hn->second);
        ++hn;
      }
      else if (hn == highlights.end())
      {
        unsetHighlight(ho->first);
        ++ho;
      }
      else if (hn->first < ho->first)
      {
        setHighlight(hn->first, hn->second);
        ++hn;
      }
      else if (hn->first > ho->first)
      {
        unsetHighlight(ho->first);
        ++ho;
      }
      else if (hn->second != ho->second)
      {
        setHighlight(hn->first, hn->second);
        ++ho;
        ++hn;
      }
      else
      {
        ++ho;
        ++hn;
      }
    }
  }
 
  swap(highlights, highlights_);
}
 
void RobotStateDisplay::changedAttachedBodyColor()
{
  if (robot_)
  {
    QColor color = attached_body_color_property_->getColor();
    std_msgs::msg::ColorRGBA color_msg;
    color_msg.r = color.redF();
    color_msg.g = color.greenF();
    color_msg.b = color.blueF();
    color_msg.a = robot_alpha_property_->getFloat();
    robot_->setDefaultAttachedObjectColor(color_msg);
    update_state_ = true;
  }
}
 
void RobotStateDisplay::changedRobotDescription()
{
  if (isEnabled())
    reset();
}
 
void RobotStateDisplay::changedRootLinkName()
{
}
 
void RobotStateDisplay::changedRobotSceneAlpha()
{
  if (robot_)
  {
    robot_->setAlpha(robot_alpha_property_->getFloat());
    QColor color = attached_body_color_property_->getColor();
    std_msgs::msg::ColorRGBA color_msg;
    color_msg.r = color.redF();
    color_msg.g = color.greenF();
    color_msg.b = color.blueF();
    color_msg.a = robot_alpha_property_->getFloat();
    robot_->setDefaultAttachedObjectColor(color_msg);
    update_state_ = true;
  }
}
 
void RobotStateDisplay::changedRobotStateTopic()
{
  using namespace std::placeholders;
  // reset model to default state, we don't want to show previous messages
  if (static_cast<bool>(robot_state_))
    robot_state_->setToDefaultValues();
  update_state_ = true;
  robot_->setVisible(false);
  setStatus(rviz_common::properties::StatusProperty::Warn, "RobotState", "No msg received");
 
  robot_state_subscriber_ = node_->create_subscription<moveit_msgs::msg::DisplayRobotState>(
      robot_state_topic_property_->getStdString(), rclcpp::SystemDefaultsQoS(),
      [this](const moveit_msgs::msg::DisplayRobotState::ConstSharedPtr& state) { return newRobotStateCallback(state); });
}
 
void RobotStateDisplay::newRobotStateCallback(const moveit_msgs::msg::DisplayRobotState::ConstSharedPtr& state_msg)
{
  if (!robot_model_)
    return;
  if (!robot_state_)
    robot_state_ = std::make_shared<moveit::core::RobotState>(robot_model_);
  // possibly use TF to construct a moveit::core::Transforms object to pass in to the conversion function?
  try
  {
    if (!moveit::core::isEmpty(state_msg->state))
      moveit::core::robotStateMsgToRobotState(state_msg->state, *robot_state_);
    setRobotHighlights(state_msg->highlight_links);
  }
  catch (const moveit::Exception& e)
  {
    robot_state_->setToDefaultValues();
    setRobotHighlights(moveit_msgs::msg::DisplayRobotState::_highlight_links_type());
    setStatus(rviz_common::properties::StatusProperty::Error, "RobotState", e.what());
    robot_->setVisible(false);
    return;
  }
 
  if (robot_->isVisible() != !state_msg->hide)
  {
    robot_->setVisible(!state_msg->hide);
    if (robot_->isVisible())
    {
      setStatus(rviz_common::properties::StatusProperty::Ok, "RobotState", "");
    }
    else
    {
      setStatus(rviz_common::properties::StatusProperty::Warn, "RobotState", "Hidden");
    }
  }
 
  update_state_ = true;
}
 
void RobotStateDisplay::setLinkColor(const std::string& link_name, const QColor& color)
{
  setLinkColor(&robot_->getRobot(), link_name, color);
}
 
void RobotStateDisplay::unsetLinkColor(const std::string& link_name)
{
  unsetLinkColor(&robot_->getRobot(), link_name);
}
 
void RobotStateDisplay::setVisible(bool visible)
{
  robot_->setVisible(visible);
}
 
void RobotStateDisplay::setLinkColor(rviz_default_plugins::robot::Robot* robot, const std::string& link_name,
                                     const QColor& color)
{
  rviz_default_plugins::robot::RobotLink* link = robot->getLink(link_name);
 
  // Check if link exists
  if (link)
    link->setColor(color.redF(), color.greenF(), color.blueF());
}
 
void RobotStateDisplay::unsetLinkColor(rviz_default_plugins::robot::Robot* robot, const std::string& link_name)
{
  rviz_default_plugins::robot::RobotLink* link = robot->getLink(link_name);
 
  // Check if link exists
  if (link)
    link->unsetColor();
}
 
// ******************************************************************************************
// Load
// ******************************************************************************************
void RobotStateDisplay::initializeLoader()
{
  if (robot_description_property_->getStdString().empty())
  {
    setStatus(rviz_common::properties::StatusProperty::Error, "RobotModel", "`Robot Description` field can't be empty");
    return;
  }
 
  rdf_loader_ = std::make_shared<rdf_loader::RDFLoader>(node_, robot_description_property_->getStdString(), true);
  loadRobotModel();
  rdf_loader_->setNewModelCallback([this]() { return loadRobotModel(); });
}
 
void RobotStateDisplay::loadRobotModel()
{
  if (rdf_loader_->getURDF())
  {
    try
    {
      const srdf::ModelSharedPtr& srdf =
          rdf_loader_->getSRDF() ? rdf_loader_->getSRDF() : std::make_shared<srdf::Model>();
      robot_model_ = std::make_shared<moveit::core::RobotModel>(rdf_loader_->getURDF(), srdf);
      robot_->load(*robot_model_->getURDF());
      robot_state_ = std::make_shared<moveit::core::RobotState>(robot_model_);
      robot_state_->setToDefaultValues();
      bool old_state = root_link_name_property_->blockSignals(true);
      root_link_name_property_->setStdString(getRobotModel()->getRootLinkName());
      root_link_name_property_->blockSignals(old_state);
      update_state_ = true;
      setStatus(rviz_common::properties::StatusProperty::Ok, "RobotModel", "Loaded successfully");
 
      changedEnableVisualVisible();
      changedEnableCollisionVisible();
    }
    catch (std::exception& e)
    {
      setStatus(rviz_common::properties::StatusProperty::Error, "RobotModel",
                QString("Loading failed: %1").arg(e.what()));
    }
  }
  else
    setStatus(rviz_common::properties::StatusProperty::Error, "RobotModel", "Loading failed");
 
  highlights_.clear();
}
 
void RobotStateDisplay::load(const rviz_common::Config& config)
{
  // This property needs to be loaded in onEnable() below, which is triggered
  // in the beginning of Display::load() before the other property would be available
  robot_description_property_->load(config.mapGetChild("Robot Description"));
  Display::load(config);
}
 
void RobotStateDisplay::onEnable()
{
  Display::onEnable();
  if (!rdf_loader_)
    initializeLoader();
  changedRobotStateTopic();
  calculateOffsetPosition();
}
 
// ******************************************************************************************
// Disable
// ******************************************************************************************
void RobotStateDisplay::onDisable()
{
  robot_state_subscriber_.reset();
  if (robot_)
    robot_->setVisible(false);
  Display::onDisable();
}
 
void RobotStateDisplay::update(float wall_dt, float ros_dt)
{
  Display::update(wall_dt, ros_dt);
  calculateOffsetPosition();
  if (robot_ && update_state_ && robot_state_)
  {
    update_state_ = false;
    robot_state_->update();
    robot_->update(robot_state_);
  }
}
 
// ******************************************************************************************
// Calculate Offset Position
// ******************************************************************************************
void RobotStateDisplay::calculateOffsetPosition()
{
  if (!getRobotModel())
    return;
 
  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
 
  context_->getFrameManager()->getTransform(getRobotModel()->getModelFrame(), rclcpp::Time(0, 0, RCL_ROS_TIME),
                                            position, orientation);
 
  scene_node_->setPosition(position);
  scene_node_->setOrientation(orientation);
}
 
void RobotStateDisplay::fixedFrameChanged()
{
  Display::fixedFrameChanged();
  calculateOffsetPosition();
}
 
}  // namespace moveit_rviz_plugin